EP1218685A1 - Method and guidance system for guiding a missile - Google Patents
Method and guidance system for guiding a missileInfo
- Publication number
- EP1218685A1 EP1218685A1 EP00952120A EP00952120A EP1218685A1 EP 1218685 A1 EP1218685 A1 EP 1218685A1 EP 00952120 A EP00952120 A EP 00952120A EP 00952120 A EP00952120 A EP 00952120A EP 1218685 A1 EP1218685 A1 EP 1218685A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- missile
- target
- correction
- operator
- trajectory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/30—Command link guidance systems
- F41G7/301—Details
Definitions
- the present invention relates to a method for guiding a missile fired at a target, where the angular velocity of the target is determined on the basis of the operator tracking the target in a first time period during which at least a first angle position and a second angle position of the target are recorded and the time interval between these, and where, based on the determined angular velocity, the angle position which the target is assumed to have when the missile reaches the target is predicted and the missile is guided continuously in a desired, predicted trajectory towards the assumed angle position as a function of time and missile speed.
- the invention also relates to a guidance system for guiding a missile, comprising means for determining the angular velocity of the target in a first time period when the operator is tracking the target, based on the recording of a first angle position and a second angle position and the time interval between these, means for predicting the position of the target when the missile is expected to reach the target, based on the determined angular velocity, and means for predicting the desired trajectory.
- a guidance system for guiding a missile comprising means for determining the angular velocity of the target in a first time period when the operator is tracking the target, based on the recording of a first angle position and a second angle position and the time interval between these, means for predicting the position of the target when the missile is expected to reach the target, based on the determined angular velocity, and means for predicting the desired trajectory.
- the term missile is intended to cover all forms of internally and/or externally guided objects which are fired at a target.
- An example of a suitable type of missile is an anti-tank
- PLOS Predicted Line of Sight
- the target's position is predicted as a function of time after firing and the missile is guided towards the predicted position of the target. At the same time, the effect of the earth's attraction is eliminated.
- error sources which limit the PLOS guidance method and which mean that the predicted position of the target does not always agree with the actual position of the target. Errors of the kind listed below can cause the missile to deviate from the desired point of impact or overfly point .
- Deviation from trajectory normally increases with flight time and the speed of the target.
- the direction of movement of the target is another factor which greatly influences the deviation from trajectory.
- the object of the present invention is to improve the strike accuracy for PLOS-based guidance methods.
- the object of the invention is achieved by a method characterized in that the operator, in a second subsequent time period, tracks the actual position of the missile in relation to the predicted angle position of the target so that, if a deviation is observed, a correction command can be transmitted to the missile in order to correct the trajectory predicted for the missile, and also a guidance system which is characterized in that a communications link is provided to transmit any correction commands from the operator to the missile in a second subsequent time period for correction of the trajectory predicted for the missile.
- the missile is driven autonomously after it has been fired.
- the missile does not need to be continuously fed from the sight with error positions.
- the firing is preceded by a phase where the angular velocity of the target is determined on the basis of the operator tracking the target in the time period between a first angle position and a second angle position.
- the tracking can be carried out optically, for example using visible light or IR light.
- the operator Since the operator has the possibility of continuously tracking the missile to the target and acting on the missile's trajectory, the operator, if he considers that the missile is not lying within an acceptable distance from the line of sight, can introduce a correction which moves the missile towards the line of sight.
- the possibility for the operator to track and correct the missile's course means that the errors in the above list can at least partially be compensated.
- the introduction of the correction during the missile's travel towards the target increases the chances of firing at longer distances and striking rapid and/or manoeuvred targets.
- the missile trajectory is corrected during the second time period in steps in the direction counter to the observed deviation upon receipt of a correction command activated by the operator.
- An advantageous embodiment in this connection is characterized in that the correction of the missile trajectory during the second time period in the direction counter to the observed deviation is carried out in one or two steps.
- a correction in one or two steps is what a qualified operator is considered to be able to do under stress from enemy fire and the forces which are developed during the launch procedure.
- an angular velocity of the target estimated in the first time period is corrected in the second time period, the missile trajectory being corrected in proportion to the firing distance, resulting in a stepwise correction in the direction counter to the observed deviation upon receipt of a correction command activated by the operator.
- Correction of the missile trajectory is advantageously based on correction commands transmitted by the operator for target distances greater than 300 metres .
- An advantageous embodiment of the guidance system according to the invention is characterized in that the communications link on the transmit side is connected to the firing mechanism of the missile via a decoder which, based on correction commands in the form of depressions of the firing mechanism by the operator, identifies the correction commands and, via a transmitter, sends the information to the missile.
- the guidance system does not require any extra input members on the transmit side of the communications link, and instead the correction commands can be fed via the same trigger which is used for determining angular velocity and for firing. This facilitates the operator' s handling of the weapon and means that soon after firing he can track the missile trajectory in order to effect possible correction.
- the communications link Located on the receive side of the missile, the communications link, in an advantageous embodiment, comprises a receiver for receiving the correction commands and a computer unit connected to the receiver.
- the computer unit is preferably arranged to use ordinary algorithms to guide the missile in the desired predicted trajectory via a control device incorporated in the missile, preferably with hot gas propulsion via controlled valves or with aerodynamic control surfaces, based on received correction commands and information from the missile's inertia sensors.
- the communications link of the guidance system operates with laser light.
- Figure 1 is a diagrammatic representation of a portable anti-tank weapon provided with a guidance system according to the invention.
- Figure 2 is a diagrammatic illustration showing a missile being guided towards an enemy tank with correction of the trajectory in accordance with the invention .
- Figures 3a - 3c illustrate three different missile positions relative to an enemy tank.
- Figure 4 illustrates correction zones relative to an enemy tank in the case where correction can be done in two steps.
- Figure 5 is a diagrammatic representation of the transmit side of a communications link incorporated in a guidance system according to the invention.
- FIG 6 is a diagrammatic representation of the receive side of a communications link incorporated in a guidance system according to the invention.
- the anti-tank weapon 1 shown in Figure 1 comprises, inter alia, a barrel 2 with a missile part 3 indicated by broken lines. On the barrel there is a sight 4 and a grip 5 with trigger 6. A shoulder support 7 and a pull-out prop 8 can also be seen. Referring to Figure 2, this illustrates firing at a moving target using the PLOS guidance method, with added operator-controlled correction.
- a yaw and pitch gyro (not shown) in the missile measures the angular velocity of the weapon in order to estimate the angular velocity of the target using an estimator based on Kalman technology.
- a yaw gyro and a pitch accelerometer can be used for measurement.
- the guidance is based on the information obtained before firing.
- the trajectory is controlled by inertia-controlled sensors described with reference to Figure 6, control algorithms and control devices with hot gas and controlled valves.
- the missile can be guided in a trajectory which lies vertically above the top part of the tank.
- the tank can then be attacked from above when the missile flies over, so-called Overly Top Attack (OTA) .
- OTA Overly Top Attack
- the guidance according to the invention can be applied both for overfly and for direct attack (Impact Mode), and no detailed account of the different modes possible is given here.
- the operator commences the angle measurement. At point [0], he fires the missile.
- the estimated angular velocity predicts that the target will be at [1] when the missile reaches or alternatively passes over the target.
- the missile thus follows a line-of-sight trajectory which ends at point [1].
- the operator detects a deviation between the target and the missile.
- the estimation of the angular velocity was too high or the target has slowed down.
- the situation indicates that the target will be at point [3] instead of point [1] when the missile passes the target.
- the missile will be located in front of the target. If the operator tracks the missile's path towards the target, he has the possibility of correcting the course of the missile.
- a correction command activated by the operator 10 is transmitted to the missile. This makes the missile change course and guides it into a trajectory 13 which ends at point [3] .
- the trajectory from the correction to point [3] has been designated by 14. Since the error in PLOS mode is very small, this simple correction method is sufficient and it is not comparable to normal CLOS guidance (Command to Line-Of-Sight ) .
- Figures 3a to 3c illustrate three examples of missile positions relative to the target in the form of a tank 9 with direction of travel according to arrow 15.
- the examples relate to the OTA method.
- the missile 3 lies right on course for reaching the target. No correction to the course of the missile is needed here. On the contrary, any correction of the course could jeopardize the chances of the missile hitting the tank.
- the missile 3 is lying on a course which means that the missile will pass behind the tank 9.
- a course correction is needed in the direction of travel 15 of the tank.
- the missile 3 lies on a course which means that the missile will pass in front of the tank 9.
- course correction is needed in the direction counter to the direction of travel 15 of the tank.
- a simple means of communicating course corrections to the missile 3 is for the operator 10 to give correction commands in the form of depressions of the firing mechanism.
- One press can then mean that the missile course is to be corrected in the direction of travel of the target, while two presses means correction in the direction counter to the direction of travel.
- Figure 5 is a diagrammatic representation of the transmit side of a communications link incorporated in a guidance system according to the invention.
- the trigger 6 is in this case coupled to a decoder 16 which communicates with a transmitter in the form of a laser diode 17 with optics 18.
- the decoder 16 identifies the presses made by the operator via the trigger 6 and determines the type of correction. Information on the identified type of correction is transmitted via the transmitter 17 and its optics 18 to the receive side of the communications link.
- a photodiode 19 Accommodated in the missile at the receive side of the communications link, there is a photodiode 19 which is connected to a receiver 20, as can be seen in Figure 6.
- the receiver receives information on the type of correction via the photodiode 19.
- An estimator 24 estimates the angular velocity of the target based on information supplied before firing by means of the sensor platform 25 of the missile with gyro and accelerometer, and the correction information available. The estimated angular velocity is fed onwards to a computer unit 21 which predicts a desired missile trajectory.
- the computer unit 21 is in contact with the sensor platform 25 and control device 23 with hot gas and controlled valves or surfaces and controls the control device 23 as a function of information from the receiver 20 and the sensor platform 25 and which has been processed by the estimator 24 and/or the computer unit 21.
- the broken line 22 indicates transfer of measurement values before firing.
- the control device 23 acts on the missile's aerodynamics, as symbolized by the block 26, and a resulting trajectory for the missile is obtained and detected by the sensor platform 25.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Controls (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9902924 | 1999-08-18 | ||
SE9902924A SE517023C2 (en) | 1999-08-18 | 1999-08-18 | Procedure for controlling a robot and a control system for controlling a robot |
PCT/SE2000/001557 WO2001014820A1 (en) | 1999-08-18 | 2000-08-09 | Method and guidance system for guiding a missile |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1218685A1 true EP1218685A1 (en) | 2002-07-03 |
EP1218685B1 EP1218685B1 (en) | 2009-10-07 |
Family
ID=20416684
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00952120A Expired - Lifetime EP1218685B1 (en) | 1999-08-18 | 2000-08-09 | Method and guidance system for guiding a missile |
Country Status (7)
Country | Link |
---|---|
US (1) | US6672533B1 (en) |
EP (1) | EP1218685B1 (en) |
AT (1) | ATE445136T1 (en) |
DE (1) | DE60043114D1 (en) |
ES (1) | ES2331906T3 (en) |
SE (1) | SE517023C2 (en) |
WO (1) | WO2001014820A1 (en) |
Cited By (1)
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RU2544281C1 (en) * | 2013-11-06 | 2015-03-20 | Василий Васильевич Ефанов | Aircraft sighting system for close air combat |
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US7604206B2 (en) * | 2001-11-19 | 2009-10-20 | Samsung Electronics Co., Ltd. | Monitor improved in a tilting and combining structure |
KR100520060B1 (en) * | 2002-05-28 | 2005-10-11 | 삼성전자주식회사 | Monitor |
US6676071B1 (en) * | 2002-06-21 | 2004-01-13 | The United States Of America As Represented By The Secretary Of The Navy | Gliding vehicle guidance |
KR100465792B1 (en) * | 2002-07-06 | 2005-01-13 | 삼성전자주식회사 | Display |
KR100512718B1 (en) * | 2002-07-16 | 2005-09-07 | 삼성전자주식회사 | Monitor |
KR100630969B1 (en) | 2002-08-24 | 2006-10-02 | 삼성전자주식회사 | Display |
KR100476090B1 (en) * | 2002-09-27 | 2005-03-11 | 삼성전자주식회사 | Monitor |
KR100482007B1 (en) * | 2002-09-28 | 2005-04-13 | 삼성전자주식회사 | Monitor |
KR100770981B1 (en) * | 2002-10-30 | 2007-10-30 | 삼성전자주식회사 | Stand of Display |
KR100500234B1 (en) * | 2002-11-05 | 2005-07-11 | 삼성전자주식회사 | Display apparatus |
KR100826605B1 (en) * | 2002-11-11 | 2008-04-30 | 삼성전자주식회사 | Monitor |
KR100770984B1 (en) * | 2003-05-23 | 2007-10-30 | 삼성전자주식회사 | Display apparatus |
US6889934B1 (en) * | 2004-06-18 | 2005-05-10 | Honeywell International Inc. | Systems and methods for guiding munitions |
US7249730B1 (en) * | 2004-09-23 | 2007-07-31 | United States Of America As Represented By The Secretary Of The Army | System and method for in-flight trajectory path synthesis using the time sampled output of onboard sensors |
US7755011B2 (en) * | 2006-06-23 | 2010-07-13 | Lockheed Martin Corporation | Target maneuver detection |
JP4709101B2 (en) * | 2006-09-01 | 2011-06-22 | キヤノン株式会社 | Automatic tracking camera device |
US8686326B1 (en) * | 2008-03-26 | 2014-04-01 | Arete Associates | Optical-flow techniques for improved terminal homing and control |
US9127908B2 (en) | 2009-02-02 | 2015-09-08 | Aero Vironment, Inc. | Multimode unmanned aerial vehicle |
CA2789722C (en) | 2009-09-09 | 2018-08-28 | Aerovironment, Inc. | Systems and devices for remotely operated unmanned aerial vehicle report-suppressing launcher with portable rf transparent launch tube |
US8237095B2 (en) | 2010-02-24 | 2012-08-07 | Lockheed Martin Corporation | Spot leading target laser guidance for engaging moving targets |
US8849483B2 (en) * | 2011-04-13 | 2014-09-30 | California Institute Of Technology | Target trailing with safe navigation with colregs for maritime autonomous surface vehicles |
JP5634355B2 (en) * | 2011-08-29 | 2014-12-03 | 株式会社東芝 | Target tracking system and program and method thereof, angle tracking device and program and method thereof, target tracking device and program and method thereof |
US9501055B2 (en) | 2012-03-02 | 2016-11-22 | Orbital Atk, Inc. | Methods and apparatuses for engagement management of aerial threats |
US11947349B2 (en) | 2012-03-02 | 2024-04-02 | Northrop Grumman Systems Corporation | Methods and apparatuses for engagement management of aerial threats |
US11313650B2 (en) | 2012-03-02 | 2022-04-26 | Northrop Grumman Systems Corporation | Methods and apparatuses for aerial interception of aerial threats |
US9170070B2 (en) | 2012-03-02 | 2015-10-27 | Orbital Atk, Inc. | Methods and apparatuses for active protection from aerial threats |
ES2435797B1 (en) * | 2012-05-30 | 2015-04-06 | Electrónica Falcón, S.A. | HUNTING SAFETY EQUIPMENT, AND SAID EQUIPMENT OPERATION PROCEDURE |
CN103591416B (en) * | 2012-08-17 | 2015-12-09 | 深圳迈瑞生物医疗电子股份有限公司 | A kind of lock and support arm thereof and ultrasonic image-forming system |
RU2564051C1 (en) * | 2014-06-25 | 2015-09-27 | Акционерное общество "Конструкторское бюро приборостроения им. академика А.Г. Шипунова" | Method of deflection shooting by anti-tank guided missile |
RU2657356C1 (en) * | 2017-05-23 | 2018-06-13 | Акционерное общество "Конструкторское бюро приборостроения им. академика А.Г. Шипунова" | Method of simultaneous adjustment of guided missiles with laser semi-active homing heads and device for its implementation |
RU2726301C1 (en) * | 2019-08-16 | 2020-07-13 | Закрытое акционерное общество "МНИТИ" (ЗАО "МНИТИ") | Modern onboard weapons helicopter system |
CN117663914A (en) * | 2023-11-23 | 2024-03-08 | 西安现代控制技术研究所 | Guidance method for 360-degree omnibearing attack target |
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1999
- 1999-08-18 SE SE9902924A patent/SE517023C2/en not_active IP Right Cessation
-
2000
- 2000-08-09 WO PCT/SE2000/001557 patent/WO2001014820A1/en active Application Filing
- 2000-08-09 DE DE60043114T patent/DE60043114D1/en not_active Expired - Lifetime
- 2000-08-09 US US10/049,674 patent/US6672533B1/en not_active Expired - Lifetime
- 2000-08-09 AT AT00952120T patent/ATE445136T1/en not_active IP Right Cessation
- 2000-08-09 EP EP00952120A patent/EP1218685B1/en not_active Expired - Lifetime
- 2000-08-09 ES ES00952120T patent/ES2331906T3/en not_active Expired - Lifetime
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Title |
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See references of WO0114820A1 * |
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Publication number | Priority date | Publication date | Assignee | Title |
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RU2544281C1 (en) * | 2013-11-06 | 2015-03-20 | Василий Васильевич Ефанов | Aircraft sighting system for close air combat |
Also Published As
Publication number | Publication date |
---|---|
WO2001014820A1 (en) | 2001-03-01 |
SE9902924L (en) | 2001-02-19 |
ATE445136T1 (en) | 2009-10-15 |
EP1218685B1 (en) | 2009-10-07 |
SE517023C2 (en) | 2002-04-02 |
SE9902924D0 (en) | 1999-08-18 |
ES2331906T3 (en) | 2010-01-20 |
DE60043114D1 (en) | 2009-11-19 |
US6672533B1 (en) | 2004-01-06 |
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